CN101902575A

CN101902575A - Camera system and electronic-circuit-component mounting machine

Info

Publication number: CN101902575A
Application number: CN2010101950696A
Authority: CN
Inventors: 星川和美
Original assignee: Fuji Machine Manufacturing Co Ltd
Current assignee: Fuji Corp
Priority date: 2009-05-29
Filing date: 2010-05-31
Publication date: 2010-12-01
Anticipated expiration: 2030-05-31
Also published as: JP2011009705A; CN101902575B; JP5780712B2; US8768514B2; US20100305756A1

Abstract

The invention provides a kind of electronic-circuit-component mounting machine that more practical camera system reaches more practical parts camera system that possesses.It makes parts keep being provided with the parts image unit on the X-axis slide block of the head moving device that head moves, and by the LED photoflash lamp electronic circuit component is thrown light in the moving of the direction with Y direction composition that keeps head, and takes by ccd video camera.Set for each kind of the reference object portion of electronic circuit component and to allow fuzzy quantity, and be the flash of light time of origin that the reflectivity of reference object portion is set the LED photoflash lamp, set translational speed according to the brightness specified part.The luminous time of origin of the low more setting of the reflectivity of brightness specified part is long more, and it is slow more to set translational speed, even the brightness specified part shades, reflectivity is low, also fuzzy quantity can be suppressed at allowance, and obtain the image of the brightness of suitable image processing.In addition, even the reflectivity height of brightness specified part also can obtain being fit to the image of the brightness of image processing, when being suppressed at allowance, fuzzy quantity improved installation effectiveness.

Description

Camera system and electronic-circuit-component mounting machine

Technical field

The present invention relates to a kind of camera system and possess the electronic-circuit-component mounting machine of parts camera system.

Background technology

In electronic-circuit-component mounting machine, patent documentation 1 described as follows and 2 records are provided with the parts camera system, and the electronic circuit component that keeps head to be kept by parts is taken.The parts camera system that patent documentation 1 is put down in writing possesses lighting device and line sensor, fixed position between assembly supply device and base plate transmission device and being provided with.Lighting device contains a plurality of LED (Light Emitting Diode, light-emitting diode), line sensor possesses a plurality of CCD (the Charge Coupled Device that forms a line with assembly supply device and base plate transmission device direction side by side with paralleling, charge coupled cell), keep the parts of electronic circuit component keep head with the rectangular direction of line sensor on move, pass on the whole on-line sensor of electronic circuit component, obtain its whole image thus.The mode that lighting device is adjusted light quantity with the translational speed that keeps head according to parts constitutes, by accelerating translational speed for the electronic circuit component of the simple shape that relatively is easy to discern and increasing the light quantity of lighting device, and the distinct image that can both obtain being fit to handle shortens camera time, by slow down translational speed and reduce the light quantity of lighting device of the electronic circuit component for complicated shape, can obtain being fit to the picture rich in detail handled with carries out image processing accurately.

In addition, the parts camera system that patent documentation 2 is put down in writing possesses lighting device and ccd video camera, on the movable body that moves at boarded parts maintenance head, keep head to be provided with respect to parts with relatively moving, can move by mobile device in the direction that parallels with the moving direction of movable body.Lighting device possesses light-emitting diode, and ccd video camera possesses electronic shutter, keeps head after assembly supply device obtains electronic circuit component at parts, makes the parts camera system keep head to move with respect to parts, so that electronic circuit component is taken.At this moment, the electronic shutter of ccd video camera allows the exposure of CCD in the time by predefined shutter speed decision, makes lighting device produce flash of light so that electronic circuit component is thrown light in its time for exposure.Control supplying electric current thus,, obtain the light quantity of Duoing when lighting continuously, so that electronic circuit component is thrown light on fully at the electric current more than the instantaneous supply rated current of light-emitting diode under the situation that lighting device is lighted continuously to light-emitting diode.

Patent documentation 1: Japanese kokai publication hei-No. 167799 communique

Patent documentation 2: TOHKEMY 2000-124683 communique

But, in existing parts camera system, also leave room for improvement.For example, in the parts camera system that patent documentation 1 is put down in writing, keep the translational speed of head to decide light quantity according to parts, in the parts camera system that patent documentation 2 is put down in writing, decide the flash of light time of origin of lighting device according to the shutter speed of ccd video camera, but, not necessarily can obtain being fit to the amount of the distinct image of image processing by the light quantity of translational speed and shutter speed decision, also have the leeway of improvement herein.

Summary of the invention

The present invention sets up in view of such actual conditions, is that problem is set up with the electronic-circuit-component mounting machine that can obtain possessing more practical camera system and more practical parts camera system.

Above-mentioned problem is resolved by camera system is contained as the lower part: the lighting device that (A) the flash of light time of origin can be changed to a plurality of times that length is different each other; (B) camera head of during producing flash of light, reference object portion being taken by this lighting device; (C) make reference object portion with respect to this camera head with the direction of the opposed direction quadrature of these camera heads and reference object portion on move, and this translational speed can be changed to the object portion mobile device of a plurality of speed that differ in size from one another; (D) in the moving of the reference object portion that utilizes this object portion mobile device to carry out, make above-mentioned lighting device only produce flash of light and make above-mentioned camera head carry out the shooting of reference object portion with the regulation time of origin, and control the translational speed of above-mentioned object portion mobile device, so that the amount of movement of the reference object portion in the above-mentioned setting flash of light time of origin is for setting amount of movement or it sets the following control device of amount of movement.

Reference object portion both can be a parts integral body, also can be the part of these parts.

The flash of light time of origin of lighting device both can change multistagely, also can change continuously.In the latter case, can think that the flash of light time of origin can steplessly change.

The translational speed of mobile device also is both can multistagely to change, and also can change continuously.In the latter case, can think that translational speed can steplessly change.

Control device is under the situation that translational speed can change continuously, controlling object portion mobile device is so that translational speed becomes the setting translational speed, under the situation that translational speed only can change interimly, regard that the scope inner control below the setting translational speed in multistage translational speed arrives maximum translational speed as.

No matter mobile device sets the size of translational speed under the situation of translational speed for the device that can change continuously, reference object portion is moved to set translational speed, and the amount of movement of reference object portion becomes the setting amount of movement.Relative therewith, mobile device under the situation of the device that can change for translational speed interimly, when the translational speed that equates with the setting translational speed is arranged in the translational speed in a plurality of stages, reference object portion is moved by setting translational speed, its amount of movement becomes the setting amount of movement, and when not having the translational speed that equates with the setting translational speed, can make reference object portion with littler and move with the translational speed of the difference minimum of setting translational speed than setting translational speed, it is littler than setting amount of movement that its amount of movement becomes.

As the image pick-up device of camera head, for example can adopt ccd video camera or CMOS (Complementary Oxide Semiconductor) imageing sensor.

Above-mentioned problem is also solved in the following way: electronic-circuit-component mounting machine is contained: (a) base plate keeping device of holding circuit substrate; (b) assembly supply device of supply electronic circuit component; (c) by component holder from this assembly supply device electron gain circuit block, be installed in the erecting device on the circuit substrate that remains in the aforesaid substrate holding device; (d) the parts camera system that at least a portion of the electronic circuit component that remains in above-mentioned component holder is taken; (e) view data of the picture of the above-mentioned at least a portion that is photographed by this parts camera system based on expression obtains the image processing apparatus that above-mentioned component holder keeps the holding position error of electronic circuit component; (f) control above-mentioned erecting device, electronic circuit component being installed on the erecting device control part of circuit substrate when proofreading and correct the holding position error obtained by this image processing apparatus, and above-mentioned parts camera system is made of camera system of the present invention.

If in the relatively moving of the relative camera head of reference object portion, take, then can be for shooting stop during reference object portion moves from mobile starting point to mobile end point, thus improved operating efficiency.

But, for obtaining the preferable image of reference object portion, need inject the reverberation of ormal weight to camera head from reference object portion or as the part of its background, and reference object portion or need long illumination more as the reflectivity of the part of its background is low more.

And, owing to during lighting device produces flash of light, utilize camera head to carry out the shooting of reference object portion, flash time long more to camera head to go into light quantity many more, but opposite, the fuzzy quantity of the image of being obtained by shooting is big more.In addition, if the flash of light time of origin is identical, then reference object portion utilizes the fuzzy quantity of the big more image of translational speed that mobile device carries out big more.

For realizing the purpose of shooting, the fuzzy quantity of image need be suppressed at below the permission fuzzy quantity.Set the setting amount of movement of the reference object portion in the flash of light time of origin and represent the permission fuzzy quantity that this reference object portion allows.

In the camera system of the present invention, in reference object portion or background is under the low situation of the reflectivity of illumination light, the flash of light time of origin that prolongs lighting device is to guarantee going into light quantity to the needs of camera head, simultaneously, reduce the translational speed that reference object portion utilizes object portion mobile device to carry out, the fuzzy quantity of image is suppressed at allows below the fuzzy quantity.On the contrary, in reference object portion or its background is under the high situation of the reflectivity of illumination light, set short flash of light time of origin, simultaneously, increase the translational speed that reference object portion utilizes object portion mobile device to carry out, not only the fuzzy quantity of image has been suppressed at and allows below the fuzzy quantity but also improved operating efficiency.

Like this, according to camera system of the present invention,, thereby can obtain all reference object portions all are fit to the image of the brightness handled owing to the reflectivity of the illumination light that can consider reference object portion or background throws light on.For example, under the situation high of the surface of reference object portion near minute surface and reflectivity, can shorten the flash of light time of origin and not make image become too bright, be under the situation that reflectivity is low the situation of grey in color, can prolong the flash of light time of origin and obtain bright image as reference object portion.

In electronic-circuit-component mounting machine of the present invention, at least a portion of electronic circuit component is a reference object portion, and reference object portion set flash of light time of origin, illumination, take during this period, simultaneously, reference object portion is moved with the amount of setting amount of movement or set below the amount of movement.Obtain having the image of the brightness of the image processing that is suitable for obtaining the holding position error thus, simultaneously, the fuzzy quantity of image is for setting amount of movement or setting below the amount of movement, and the precision raising is obtained in the holding position, not only avoids the reduction of installation effectiveness but also improved installation accuracy.

Below, the some demandable in this application inventions of illustration (below, be sometimes referred to as " demandable invention ".Demandable invention also comprises the invention of subordinate concept of the present invention and the invention of upperseat concept of the present invention or other notion) execution mode, and be described.Each execution mode is the same as with the claim item item differentiation, and to every interpolation numbering, and puts down in writing with the form of the numbering of quoting other as required.This is to be the demandable invention of easy to understand strictly speaking, and its aim is not that the combination that will constitute the inscape of demandable invention is defined in the following and puts down in writing.Promptly, demandable invention should make an explanation with reference to attaching record in every record, execution mode, prior art etc., in scope according to its explanation, an execution mode that also additional in every execution mode the mode of other inscape is arranged, the execution mode of deletion inscape all can become demandable invention from every execution mode.

In addition, following every in, (1) item is equivalent to claim item 1, (2) item is equivalent to claim item 2, (3) item is equivalent to claim item 3, and (5) item is equivalent to claim item 4, and (7) item is equivalent to claim item 5, (11) item is equivalent to claim item 6, and (13) item is equivalent to claim item 7.

(1) a kind of camera system is characterized in that, comprises:

Lighting device can change to different a plurality of times of length each other with the flash of light time of origin;

Camera head, produce by this lighting device flash of light during in reference object portion is taken;

Object portion mobile device, make reference object portion with respect to this camera head with the direction of the opposed direction quadrature of these camera heads and reference object portion on move, and its translational speed can be changed to a plurality of speed that differ in size from one another; And

Control device, utilize in the moving that this object portion mobile device carries out in reference object portion, make described lighting device set the generation flash of light of flash of light time of origin so that described camera head is taken reference object portion, and control the translational speed of described object portion mobile device, so that the amount of movement of reference object portion in described setting flash of light time of origin is for setting amount of movement or should setting below the amount of movement.

(2) as (1) described camera system, wherein, described control device comprises:

Set flash of light time of origin/settings translational speed storage part (first storage part), set up corresponding with the kind of reference object portion the setting translational speed of the setting flash light emission time of origin of described lighting device and described object portion mobile device and store and organize more;

Reference object portion obtaining section obtains the kind of the reference object portion that the next one will take; And

Set flash of light time of origin/translational speed and read portion, read and corresponding described setting flash of light time of origin of the kind of the reference object portion that obtains by this reference object portion obtaining section and described setting translational speed.

Above-mentioned " kind of reference object portion " is meant, in reference object portion for example is under the situation of electronic circuit component integral body, though can not as identification code, discern to each electronic circuit component, but can as model, stipulate the outward appearance of electronic circuit component, for example for being under the situation of part of electronic circuit component, be meant the kind (the material difference is also as the kind difference) that to discern its part in reference object portion as the lead-in wire of electronic circuit component, spherical grating, main part.

But, need to obtain the edge (optical characteristics is border and part jumpy with it) of reference object portion under many situations, can obtain the optical property that the edge not only depends on reference object portion well, but depend on reference object thing and the part both sides' that are adjacent optical property.Therefore, for example, if the different modes of the reference object portion and the reflectivity of the illumination light of the part that is adjacent (combination of the ratio of two-part reflectivity and two-part either party's reflectivity) is different, also preferably consider the difference of the kind of reference object portion sometimes.Be under the situation of part of electronic circuit component for example in reference object portion, when the reflectivity of this part and with the combination of the reflectivity of the part of this part adjacency not simultaneously, then consider the kind difference of reference object portion, be under the situation of object line of electronic circuit component at the edge that will obtain, if the reflectivity of this electronic circuit component is different with the combination of the reflectivity of background formation parts, then consider the kind difference of reference object portion.

Control device is with by setting the setting flash of light time of origin that flash time/translational speed portion of reading reads and setting the translational speed illumination apparatus and object portion mobile device is controlled.

Thus, reference object portion is moved with the translational speed of reading on one side, on one side throw light on and take at the setting flash of light time of origin of reading, regardless of the height of this reflectivity, the brightness and the fuzzy quantity that all obtain having suitable image processing are set amount or the following image of set amount.Be stored in storage part owing to set the flash of light time of origin and set translational speed, thereby determine their situation to compare during with shooting, the burden of control device can alleviate.

(3) as (1) described camera system, wherein, described control device comprises:

The described setting flash of light time of origin of described lighting device is set in flash of light time of origin configuration part; And

The described setting translational speed of described object portion mobile device is set in the translational speed configuration part based on the flash of light time of origin of being set by this flash of light time of origin configuration part.

Control device can be controlled lighting device according to the setting flash of light time of origin of being set by flash of light time of origin configuration part, and according to the setting translational speed controlling object portion mobile device of setting by the translational speed configuration part.

This flash time configuration part and translational speed configuration part are for the purpose that realizes this shooting before carrying out the shooting of reference object portion, preestablished under the situation of setting flash of light time of origin and setting translational speed, also can be used as and carry out this predefined configuration part, perhaps also can be used as the configuration part of when taking, setting flash time and setting the setting of translational speed in order to realize purpose.Flash of light time of origin configuration part and translational speed configuration part constitute under the former situation to be set flash of light time of origin determination section and sets the translational speed determination section, in the latter case, both can be used as and set the flash of light time of origin and read portion and set translational speed and read portion, and perhaps also can be used as and set the flash of light time of origin and read portion and set translational speed and read portion.

Set the flash of light time of origin and set under the situation of translational speed being predetermined, as (5) or (6) described camera system, both can be based on the tentative shooting decision of reference object portion, also can not try and make a video recording and determine.For example, can determine the time of origin that glistens by automatic or operator based on the shape of reference object portion, size, color, purposes etc.

(4) as (3) described camera system, wherein, described flash of light time of origin configuration part comprises:

Set flash of light time of origin storage part (first storage part), with the kind of reference object portion with set the flash of light time of origin and set up corresponding and the many groups of storage;

Reference object portion obtaining section obtains the kind of the reference object portion that the next one will take;

Set the flash of light time of origin and read portion, read and the corresponding setting flash of light of the kind of the reference object portion that obtains by this reference object portion obtaining section time of origin from described setting flash of light time of origin storage part.

" kind of reference object portion " in above-mentioned " kind of reference object portion " and above-mentioned (2) item is same.

Being stored in the setting flash of light time of origin of setting flash of light time of origin storage part and both can being based on the time that (5) or (6) described tentative shooting obtain, also can be not carry out tentative shooting and time of obtaining.

When needing the setting translational speed, can be based on the setting flash of light time of origin of reading by the setting flash of light time of origin portion of reading, set translational speed by setting the decision of translational speed configuration part, with will set translational speed and set the flash of light time of origin and set up corresponding with the kind of reference object portion in advance together and situation that be stored in storage part is compared, can reduce the capacity of storage part.

(5) as each described camera system in (1)～(4), wherein also comprise:

Tentative image pickup part when described object portion mobile device makes reference object portion move with the standard translational speed, makes the flash of light of described lighting device generation standard flash of light time of origin, and described camera head is taken;

Display part, demonstration contains the image of the picture of the reference object portion that is obtained by this tentative image pickup part;

Specify input part, operate a part that is shown in the image of this display part with appointment by the operator; And

Set flash of light time of origin determination section, obtain brightness, and set the flash of light time of origin based on this brightness decision that obtains by the part of this appointment input part appointment.

Above-mentioned " by the part of the image of operator's appointment " is meant reference object portion sometimes, is meant the part beyond the reference object portion sometimes.For example, be to be that this part is specified by the operator under the situation of the high part of reflectivity as the lead-in wire of electronic circuit component in reference object portion.On the contrary, for example for to be present under the situation of the dark portion in the high background of reflectivity, background is specified by the operator in reference object portion." by the part of the image of operator's appointment " is meant knack fixed flashing light time of origin so that the brightness of this part reaches the part of suitable brightness, in this implication, can be described as the brightness specified part.

The reflectivity of the illumination light in brightness and the brightness specified part is corresponding.Therefore, determine to set the flash of light time of origin if obtain brightness, then can determine into corresponding time of the reflectivity of brightness specified part, the image that obtains carrying out well the brightness of image processing.

According to this described camera system, reference object portion took before taking for original purpose, and the flash of light time of origin is set in automatic decision owing in fact can obtain the brightness of brightness specified part, thereby can correctly and easily determine.

Be located at electronic-circuit-component mounting machine in camera system, under the situation as the parts camera system, tentative shooting both can be carried out the electronic circuit component of all kinds that is installed on circuit substrate, also can be to the electronic circuit component of a part of kind and carry out.In the latter case, for the electronic circuit component that does not try shooting, for example similarly to carry out the electronic circuit component of tentative shooting identical with the formation of reference object portion, color etc. to set the flash of light time of origin, perhaps infers and determine according to the setting of the electronic circuit component that the try shooting time of origin that glistens.

(6) as each described camera system in (1)～(4), wherein comprise:

Tentative image pickup part when described object portion mobile device makes reference object portion move with the standard translational speed, makes described lighting device produce the flash of light of standard flash time, and described camera head is taken;

Display part shows the picture of the reference object portion that is obtained by this tentative image pickup part; And

Set flash of light time of origin input part, operate with input by the described setting flash of light time of origin that demonstration determined of operator based on this display part by the operator.

According to this camera system, the operator can oneself determine the flash of light time of origin.The operator both can be as illustrating in execution mode, demonstration based on predefined polytype setting flash of light time of origin, by selecting one of them to determine to set the flash of light time of origin, perhaps also display setting flash of light time of origin not, the picture of seeing shown reference object portion is by glisten time of origin and with its input of the setting of own decision suitable length.No matter under which kind of situation, the setting of flash of light time of origin can with standard glisten time of origin α doubly the mode of (α both can also can be) less than 1 greater than 1 decide.

(7) as 5 or (6) described camera system, wherein also comprise:

Described camera head is taken the reference object portion of being taken by described tentative image pickup part with described setting flash of light time of origin and based on the setting translational speed of this setting flash of light time of origin decision; And

The image confirmation unit confirms that the image of being obtained by this affirmation image pickup part is suitable image.

Usually, can confirm that image is suitable by the image confirmation unit, but, for example under situation about can not confirm, owing to do not set steadily, thereby notice portion preferably is set, it carries out the demonstration of this message in display unit, with it simultaneously or replace work by buzzer and the lamp at least one square tube in lighting know the operator.

(8) as (7) described camera system, wherein,

Described image confirmation unit also comprises can obtain the edge confirmation unit, and it is by the image processing of the image obtained by described affirmation image pickup part, and affirmation can normally obtain the edge of reference object portion.

(9) as (7) or (8) described camera system, wherein,

Described image confirmation unit comprises the reliability confirmation unit, image processing by the image obtained by described affirmation image pickup part, obtaining the relevant value of reliability that obtains with the edge of described reference object portion is the reliability relating value, and confirms that this reliability relating value is for setting more than the reliability relating value.

Affirmation about reliability will describe at the execution mode item.

(10) as each described camera system in (7)～(9), wherein,

Described image confirmation unit also comprises the brightness confirmation unit, obtains the brightness that the part that will obtain brightness is the brightness specified part in order to determine described setting flash of light time of origin, and confirms that this brightness is the value in the setting range.

By the brightness confirmation unit, be that the brightness of brightness specified part is in the setting range if confirm the predefined part of image, then can carry out setting the setting of flash of light time of origin steadily.

(11) as each described camera system in (1)～(10), wherein also comprise:

Set amount of movement storage part (second storage part), set up the described setting amount of movement of the kind of reference object portion and various types of reference object portion corresponding and store;

Set amount of movement and read portion, read the corresponding setting amount of movement of kind with the reference object portion that obtains by this reference object portion obtaining section from described setting amount of movement storage part.

The kind that " kind of reference object portion " in above-mentioned (2) classified for the part both sides' that are conceived to reference object portion and are adjacent optical property, relative therewith, " kind of reference object portion " in this is preferably the height that is conceived to the precision prescribed in the image processing and the kind of classifying.Even be called " kind of reference object portion " together, but according to being the kind that is conceived to which point classification, implication is different.But, for example be under the situation of electronic circuit component integral body in reference object portion, all model can be used as means of expression kind.This be because, if learn model, then reference object portion and the part both sides' that are adjacent optical property also as can be known, this electronic circuit component whether be the high parts of the precision prescribed in the image processing also as can be known.

It is more little to set amount of movement, and then the fuzzy quantity of image can be more little, can carry out image processing accurately, and it is big more to set amount of movement, makes moving of reference object portion big more during shooting, can improve mobile efficient.Therefore, set amount of movement, then can select the raising of image processing precision and the raising of mobile efficient according to the kind of reference object portion.

(12) as each described camera system in (1)～(11), wherein, above-mentioned lighting device is made of the LED photoflash lamp.

The LED photoflash lamp can be controlled at random length with the flash of light time of origin, is fit to the lighting device of the camera system of demandable invention.

The LED light quantity of comparing with xenon lamp is little, but because the flash of light time of origin can set according to the reflectivity of brightness specified part (reference object portion or its background), thereby the shooting that can not produce deficiency in light quantity ground that the picture that forms image the forms light reference object portion in moving.In addition, when using the LED photoflash lamp, be under the situation of a part of electronic circuit component or electronic circuit component in reference object portion, can not make electronic circuit component charged and avoid producing damage because of electronic circuit component is charged.In addition, even the reflectivity of brightness specified part (reference object portion or its background) is low, also can set the flash of light time of origin by prolonging, both can avoid image to form the deficiency of light quantity, reference object portion is stopped and taking, thereby can suppress the reduction of operating efficiency.In addition, the LED photoflash lamp is not limited to utilize the illumination of glistening and carrying out, and also can light continuously, can also take in more mode.

(13) a kind of electronic-circuit-component mounting machine comprises:

Base plate keeping device, the holding circuit substrate;

Assembly supply device is supplied with electronic circuit component;

Erecting device receives electronic circuit component by component holder from this assembly supply device, is installed on the circuit substrate that is kept by described base plate keeping device;

The parts camera system is taken at least a portion of the electronic circuit component that kept by described component holder;

Image processing apparatus, the view data of the picture of the described at least a portion that is photographed by this parts camera system based on expression obtains the holding position error that described component holder keeps electronic circuit component; And

The erecting device control part is controlled described erecting device, when proofreading and correct the holding position error obtain by this image processing apparatus, electronic circuit component being installed on circuit substrate,

And described parts camera system is made of each described camera system in the item of claim (1) item～(12).

Description of drawings

Fig. 1 is that expression first execution mode is the plane graph of electronic-circuit-component mounting machine;

Fig. 2 keeps the back view (part section) of the state of single mouth by a holding device in the erecting device of the above-mentioned electronic-circuit-component mounting machine of expression;

Fig. 3 is expression by above-mentioned holding device keep speaking out of turn back view (part section) of state of head;

Fig. 4 is expression keeps the state of chuck head by above-mentioned holding device a back view (part section);

Fig. 5 is that expression is the stereogram of QFP by one of the electronic circuit component example that above-mentioned single mouth is installed on circuit substrate;

Fig. 6 is that expression is the stereogram of nude film by another example that above-mentioned single mouth is installed on the electronic circuit component of circuit substrate;

Fig. 7 is that expression is the stereogram of sheet component by above-mentioned an one of electronic circuit component that the is installed on circuit substrate example of speaking out of turn;

Fig. 8 is that expression is the stereogram of connector by one of the electronic circuit component example that chuck head is installed on circuit substrate;

Fig. 9 is the front elevation of the parts image unit (part section) of the above-mentioned electronic-circuit-component mounting machine of expression;

Figure 10 is the block diagram that schematically shows the control device of the above-mentioned electronic-circuit-component mounting machine of control;

Figure 11 is the flow chart of setting flash of light time of origin/setting translational speed determination procedure of the ROM of the expression installation and control computer that is stored in the main body that constitutes above-mentioned control device;

Figure 12 is the flow chart of parts installation procedure that expression is stored in the ROM of above-mentioned installation and control computer;

Figure 13 is the chart of reference object portion/permission fuzzy quantity data storage of schematically showing the RAM that is located at above-mentioned installation and control computer;

Figure 14 is the chart of setting flash of light time of origin/setting translational speed data of the expression RAM that is stored in above-mentioned installation and control computer;

Figure 15 is the flow chart of setting flash of light time of origin determination procedure of ROM of installation and control computer that is stored in the electronic-circuit-component mounting machine of another execution mode of expression;

Figure 16 is the flow chart of setting flash of light time of origin/setting translational speed determination procedure of ROM of the installation and control computer of the expression electronic-circuit-component mounting machine that is stored in another execution mode of expression;

Figure 17 is the flow chart of parts installation procedure that expression is stored in the ROM of above-mentioned installation and control computer and carries out the shooting of electronic circuit component by the setting flash of light time of origin by the decision of as shown in figure 16 setting flash of light time of origin determination procedure;

Figure 18 is the plane graph of another execution mode of expression and electronic-circuit-component mounting machine.

Embodiment

Below, with reference to some execution modes of the demandable invention of description of drawings.In addition, demandable invention is except that following execution mode, and the mode of being put down in writing with above-mentioned " summary of the invention " is representative, can be implemented by the mode of carrying out various changes based on those skilled in the art's knowledge.

Fig. 1 is that the expression one embodiment of the present invention is the figure of electronic-circuit-component mounting machine.This electronic-circuit-component mounting machine comprises: base plate transmission device 10, a kind of advanceable assembly supply device 12 that is respectively assembly supply device and pellet type assembly supply device 14, base plate keeping device 16, erecting device 18, reference mark image unit 20, parts image unit 22, an operation accommodation device 24 and control device 26 (with reference to Figure 10).

Base plate transmission device 10 be located at as the fitting machine main body 30 on, for example constitute by ribbon conveyer, circuit substrate 32 along the direction transmission of level and be transported into base plate keeping device 16, is spread out of from base plate keeping device 16.If the board transport direction is an X-direction, establishing with the surface of the circuit substrate 32 that remains on base plate keeping device 16 is that the one side that the parts installed surface parallels is that the interior direction vertical with X-direction of horizontal plane is Y direction.Base plate keeping device 16 fixed positions are provided with, though it is not shown, but for example contain: from the substrate supporting device of below supporting circuit substrate 32, clamp the clamping device of the two edge portions that parallel with the board transport direction of circuit substrate 32 respectively, keep the circuit substrate 32 that is transported into by base plate transmission device 10 with flat-hand position.

Advanceable assembly supply device 12 and pellet type assembly supply device 14 in this electronic-circuit-component mounting machine as shown in Figure 1, be located at respectively on 30 with respect to base plate transmission device 10 in both sides that Y direction separates.Advanceable assembly supply device 12 possesses a kind of a plurality of feeders 34 of parts implementation.A plurality of feeders 34 are respectively so that each parts supply unit is arranged in the state of X-direction is located on the feeder supporting station 35, and carry a plurality of electronic circuit components by transmitting device respectively, and supply to the parts supply unit according to positioned in sequence one by one.Above-mentioned pellet type assembly supply device 14 is provided with a plurality of dishes 36 for accommodating the device of supplying with electronic circuit component to having a plurality of dishes 35 of accommodating recess on dish supporting station 38.

As Fig. 1～shown in Figure 4, this erecting device 18 comprises: a kind of parts that are equivalent to the operation head respectively keep single mouth 40 of head, speak out of turn 42, chuck head 44, a holding device 46, head moving device 48, be equivalent to a head lifting device 50 and a whirligig 52 near separating device.These single mouths 40, speak out of turn 42, single mouth that a holding device 46, head moving device 48, head lifting device 50 and a whirligig 52 and TOHKEMY 2006-261325 communique are put down in writing etc. similarly constitutes.

As shown in Figure 1, head moving device 48 contains X-direction mobile device 54 and Y direction mobile device 56.X-direction mobile device 54 comprises: as the X-axis slide block 60 and the X-axis slide block mobile device 62 of movable member.X-axis slide block mobile device 62 comprises: the X-axis that is equivalent to drive source moves with motor 64, contains the feed screw mechanism 68 of ball-screw 66 and nut (not shown).Y direction mobile device 56 is located at X-axis slide block 60, comprises: as the Y-axis slide block 70 and the Y-axis slide block mobile device 72 of movable member.Y-axis slide block mobile device 72 is the same with X-axis slide block mobile device 62, comprises the y-axis shift that is equivalent to drive source and employs motor 74 and feed screw mechanism 76 (with reference to Fig. 2).X-axis moves to be employed motor 74 with motor 64 and y-axis shift and for example is made of the servomotor of a kind of band encoder of motor.Servomotor is the electronic turning motor that the anglec of rotation can accurately be controlled, and X-axis slide block 60 and Y-axis slide block 70 move to position arbitrarily in X-direction and Y direction respectively.Servomotor also can control to the anglec of rotation any size, and X-direction mobile device 54 and Y direction mobile device 56 can change to any size with the translational speed of X-axis slide block 60 and Y-axis slide block 70 respectively.Also can use stepping motor to replace servomotor, also can use linear motor to replace servomotor.

As shown in Figure 2, on Y-axis slide block 70, be provided with: a holding device 46, head lifting device 50 and a whirligig 52, move by mobile these holding device 46 optional positions on horizontal plane such as grade that make of Y-axis slide block 70.Head moving device 48 constitutes the relative movement device that a holding device 46 and base plate keeping device 16 are relatively moved in the direction parallel with circuit substrate 32, head lifting device 50 constitutes makes a holding device 46 and base plate keeping device 16 relatively move with circuit substrate 32 rectangular directions, carry out approaching, leave be equivalent to relative movement device near separating device, head moving device 48 and head lifting device 50 constitutes the relative movement device that a holding device 46 and base plate keeping device 16 are relatively moved.

As shown in Figure 2, a holding device 46 comprises: be equivalent to apparatus main body shaft like parts 80, and be located at the maintaining part 82 of bottom of shaft like parts 80 integratedly, can and can keep rotatably along above-mentioned Y-axis slide block 70 liftings around the vertical axis of self.Whirligig 52 comprises with respect to shaft like parts 80 and can not rotate relatively and can counterrotating rotating shaft 84 and will rotate with the rotary body drive unit 88 of motor 86 as drive source at direction of principal axis, by making rotary body 84 rotation, and make a holding device 46 arbitrarily angled in positive and negative two directions rotation.

As shown in Figure 2, above-mentioned head lifting device 50 possesses Lift Part 94 and the Lift Part drive unit 96 of liftably being located at Y-axis slide block 70, and the upper end of above-mentioned shaft like parts 80 is rotatable and can not be supported on the Lift Part 94 at direction of principal axis with relatively moving.Lift Part drive unit 96 possesses: the lifting that is equivalent to drive source is with motor (with reference to Figure 100) and contain ball-screw 100 and the feed screw mechanism 104 of nut 102, by utilizing Lift Part drive unit 96 to make Lift Part 94 carry out lifting, make a holding device 46 carry out lifting.

As shown in Figure 2, above-mentioned single mouth 40 possesses and contains by a holding device 46 absorption and the maintained portion 108 that keeps and the head main body 112 of mouth maintaining part 110, keeps an adsorption mouth that is equivalent to component holder 114 by the negative-pressure adsorption electronic circuit component.Adsorption mouth 114 comprises mouth main body 116, adsorption tube 118 and downward background and forms face 120.This background form face 120 by the background of being located at mouth main body 116 form parts 121 below constitute, when the shooting of electronic circuit component, form its background and form black.

In the circular path 122 in the shaft like parts 80 of being located at a holding device 46, supply with negative pressure from negative pressure source 124, single mouth 40 utilization holding device 46 are by negative-pressure adsorption and keep maintained portion 18, carry out lifting, rotation with a holding device 46.Negative pressure is allowed to, cuts off by opening and closing device to the supply of path 122.In shaft like parts 80, also on its axis, be provided with another path 128, be connected with negative pressure source 124 with positive pressure source 132 selectively, supply with malleation or negative pressure to adsorption mouth 110 by the switching of switching device shifter 130.

The nude film 142 that on the electronic circuit component that is installed on circuit substrate 32 by single mouth 40, for example has QFP (Quad Plat Package) 140 as shown in Figure 5 to reach as shown in Figure 6.QFP140 comprises: main body 144, from the extended respectively a plurality of lead-in wires 146 as each terminal in four sides of main body 144.Nude film 142 is not for entering the electronic circuit component of encapsulation, is provided with a plurality of electrode pads 152 on a face of the main body 150 of main body 150, simultaneously, these electrode pads 152 separately on be formed with protuberance 154.The state that is bordering on minute surface is made on the surface of the main body 150 of nude film 142, and when from the side irradiates light, black is shone upon on the surface, and protuberance is shone upon circular.

As shown in Figure 3, speak out of turn and 42 possess: head main body 160, a plurality ofly eight mouth maintaining parts 162 for example arranged more than three, be equivalent to the adsorption mouth 164 of component holder, eight valve gear 160 and mouth lowering or hoisting gears 168 that each mouth maintaining part 162 is provided with in present embodiment.Head main body 160 possesses maintained portion 170 and mouth keeps body 172, utilizes negative-pressure adsorption to keep by a holding device 46, carries out lifting, rotation with a holding device 46.In addition, keep being provided with mouth maintaining part 162 etc. on the body 172, keep adsorption mouth 164 at mouth.Adsorption mouth 154 comprises: mouth main body 174, adsorption tube 176 and downward background form face 178.Background forms the bottom that face 178 is located at mouth main body 174, its formation comprises: from mouth main body 174 outstanding background outside radial direction form plate 182 below 184, from the background of mouth main body 174 form plate 182 to the part of adsorption tube 176 more by the outer peripheral face 188 of the conus portion 186 of the linear more minimizing of adsorption tube 176 side diameters, and become black.Background forms plate 182 and conus portion 186 constitutes background formation parts 189.

From assembly supply device reception electronic circuit component the time, 42 rotation is rotated a plurality of adsorption mouth 164 successively to the parts receiving position by speaking out of turn, along with speaking out of turn a lifting of 42, mouth lowering or hoisting gear 168 carries out work at the adsorption mouth 164 that is positioned at the parts receiving position, make this adsorption mouth 164 carry out lifting with respect to head main body 160, simultaneously, by valve switching device shifter 180 selector valve devices 166.Thus, when receiving electronic circuit component, supply with negative pressure, attract electrons circuit block to adsorption mouth 164.

Speak out of turn 42 when electronic circuit component is installed to circuit substrate 32 in utilization, make the adsorption mouth 164 of installing carry out lifting with respect to head main body 160, make it carry out lifting simultaneously with respect to circuit substrate 32, block the supply of negative pressure by the switching of valve gear 166, and supply with malleation to adsorption mouth 164.In addition, utilize 42 the rotation of speaking out of turn, change the position of rotation (around the position of axis of self) of the electronic circuit component that remains in adsorption mouth 164.

42 being installed in the electronic circuit component of circuit substrate 32, sheet component 190 is as shown in Figure 7 for example arranged by speaking out of turn.Sheet component 190 possesses: main body 192 and two terminals 194 being located at its both ends.42 also the electronic circuit component outside the sheet component 190 can be installed on circuit substrate 32 by speaking out of turn.Also can be installed on circuit substrate 32 with the nude film that size is little in the same nude film of above-mentioned nude film 142.

As shown in Figure 4, above-mentioned chuck head 44 possesses the head main body 204 that contains maintained portion 200 and chuck maintaining part 202, by a holding device 46 and utilize negative pressure to adsorb maintenance, simultaneously, keeps being equivalent to the chuck 210 of component holder.The main body of chuck 210 direction that to be chuck main body 212 parallel at the axis with head main body 204 can relatively move chimeric with chuck maintaining part 202, by compression helical spring 214, and carry out the application of force to the direction that breaks away from chuck maintaining part 202 as the elastomeric element of one of force application apparatus.Utilize the Limitation Of Movement of the chuck main body 212 that this spring 214 carries out to stipulate by the device specifies of being located between chuck maintaining part 202 and the chuck main body 212 that relatively moves (not shown).

Be mutually symmetrical with respect to the axis of chuck main body 212 on chuck main body 212 and be provided with movably as a pair of tine 220 of controlling parts, it opens and closes by the cylinder that is equivalent to drive unit (not shown) of being located at chuck main body 212.Cylinder is the single action cylinder, a pair of tine 220 by with compressed air from the beginning holding device 46 to the supply of the air chamber of cylinder, and approaching towards each other direction moves and control electronic circuit component, the application of force of the spring by cylinder, and the direction of separating towards each other moves and discharges electronic circuit component.Symbol 222 is butt parts or positioning element in Fig. 4, when descending, chuck head 44 is connected to electronic circuit component, the regulation chuck head 44 relative electronic circuit component near limit, on above-below direction, a pair of tine 220 just in time is positioned to control the position of electronic circuit component.In chuck head 44, chuck main body 212, a pair of tine 220 reach and roughly form discoideus maintained portion 220 formation backgrounds formation parts 236, and these downward respectively faces constitute backgrounds formation face, and become black.

Be installed on the connector 230 that for example has in the electronic circuit component of circuit substrate 32 as shown in Figure 8 by chuck head 44.This connector 230 comprises: main body 232 and connect main body 232 and be arranged at a plurality of pins 234 of main body 232 at thickness direction.The color of main body 232 is done grey.

In an above-mentioned operation accommodation device 24, take in polytype single mouth 40, polytypely spoken out of turn 42 and chuck head 44 etc.Single mouth 40 is according to the kind difference of the adsorption mouth 114 that keeps, and the kind difference.Adsorption mouth 114 makes shape, the size difference of adsorption tube according to the kind of the electronic circuit component of the installing kind of type classification (for example according to), makes the kind difference therefrom.In addition, speak out of turn 42 according to the kind of the adsorption mouth 164 that keeps and different kind differences that make of at least one side in the quantity.A holding device 46 is moved to an operation accommodation device 24, keep one to be used for electronic circuit component to circuit substrate 32 mounted component maintenance head.To single mouth 40, speak out of turn 42 and the illustrated together of chuck head 44, which not specific holding device 46 keeps, and in the explanation of carrying out, uses " parts keep head ".

In addition, as shown in Figure 1, said reference mark image unit 20 is equipped on Y-axis slide block 70, moves the optional position in the horizontal plane in the same way with a holding device 46 1.Head moving device 48 also is a reference mark camera head mobile device, together constitutes the reference mark camera system with reference mark image unit 20.Reference mark image unit 20 possesses the ccd video camera 240 and the lighting device 42 (with reference to Figure 10) of at least a portion that constitutes camera head in the present embodiment, and the reference object portion from the top to the reference mark 244 (with reference to Fig. 1) of being located at circuit substrate etc. takes.

In addition, shown in Fig. 1 summary, above-mentioned parts image unit 22 is located at each assembly supply device 12,14 of X-axis slide block 60 and the part between the base plate keeping device 16 respectively, keeps first with mobile in X-direction and parts, and together moves with reference object portion.X-direction mobile device 54 also is the parts image unit mobile device that is equivalent to the image unit mobile device.These parts image units 22 possess camera head and the lighting device 254 that contains ccd video camera 250 and guiding device 252 respectively as shown in Figure 9.This camera head is the face camera head.Ccd video camera 250 keeps adsorption mouth 164 by 42 all the mouth maintaining parts 162 of speaking out of turn, simultaneously, can the whole of electronic circuit component of being adsorbed respectively by these adsorption mouth 164 be taken simultaneously, in this electronic-circuit-component mounting machine, not to the edge image of electronic circuit component but full-faced photo is taken.Be from the opposition side of adsorption mouth 114,164, chuck 210 and see the state of electronic circuit component from downside, thus, protuberance 154 as nude film 142, even reference object portion with the rectangular direction of the axis of electronic circuit component for also obtaining the picture of reference object portion with the overlapping electronic circuit component of other parts (under the situation of nude film 142, being main body 150) of electronic circuit component.

Shown in Fig. 9 summary, this lighting device 254 is made of LED photoflash lamp 260, comprises apparatus main body 262 and a plurality of LED264 that are located at apparatus main body 262.On apparatus main body 262, connect its central portion and be formed with opening 266, the opening of LED264 winding apparatus main body 262 circlewise, and the direction irradiates light that tilts with center line with respect to opening 266 towards setting.The center line of the opening 266 of this lighting device 254 keeps the axis of head to parallel with parts, in this electronic-circuit-component mounting machine, be provided with in the mode parallel with vertical direction, LED photoflash lamp 260 is irradiates light obliquely upward, to be provided with from the mode of side direction to rayed object or lighting object thing irradiates light.The luminous quantity of this LED photoflash lamp 260 time per units is constant, but the time of origin that glistens can change to random length continuously.In addition, guiding device 252 possesses reflecting plate 268, is located at the below of LED photoflash lamp 260, and the reverberation that changes from electronic circuit component promptly incides ccd video camera 250 as forming direction of light.

Like this, the camera head that contains the ccd video camera 250 of two groups of parts image units 22 being located at X-axis slide block 60 and guiding device 252 is a vertical direction and the parts that are equipped on Y-axis slide block 60 keep opposed in the direction vertical with X-direction and Y direction, parts keep head by to the mobile phase of Y direction for camera head with the direction of the opposed direction quadrature of camera head on move, make Y direction mobile device 56 double as object portion mobile devices.

As shown in figure 10, above-mentioned control device 26 is based on the installation and control computer 310 of the bus 306 that comprises CPU300, ROM302, RAM304 and their are connected, is connected with the encoder 316 of servomotor of pattern process computer 314 that view data that the shooting by ccd video camera 240,250 is obtained handles, band encoder and input unit 318 etc. in input and output portion 312.The drive source that constitutes the various devices of this electronic-circuit-component mounting machine is made of the servomotor of band encoder mostly, and these encoders as showing by encoder 316, are connected with input and output portion 312 on Figure 10.In input and output portion 312, also be connected with reference mark image unit 20 and parts image unit 22, control ccd video camera 240,250 and lighting device 242,254.

The X-axis that also is connected with head moving device 48 via drive circuit 320 in input and output portion 312 moves with motor 64 grades, various actuation gears etc. and buzzer 322, and is connected with display 326 via control circuit 324.Constitute display unit 328 by control circuit 324 and display 326, on display 326, show various data etc.Input unit 318 possesses pointing devices such as keyboard and mouse and imports data and indication etc., perhaps utilizes the demonstration of display unit 328 touch displays 326 to import.In addition, contain not shown main program, parts installation procedure, be shown in various standardization programs, program and data etc. such as the setting flash of light time of origin/setting translational speed determination procedure of Figure 11 and Figure 12 and parts installation procedure with flow chart respectively at the ROM302 internal memory.In the parts installation procedure, make the feed appliance 34 of each X, the Y coordinate data of a plurality of parts installation position of being located at circuit substrate 32, the kind that is installed on the electronic circuit component of each parts installation position, supply electronic circuit component or the position of pallet 36, the parts of maintenance electronic circuit component keep the foundation correspondences each other such as kind of head, simultaneously, contain the data of arranging by the erection sequence of electronic circuit component.The kind of the electronic circuit component in the parts installation procedure is for example set by model.

In the electronic-circuit-component mounting machine of above-mentioned formation, according to the kind (by the kind of type classification) of the electronic circuit component that is installed in circuit substrate 32 by a holding device 46 keep single mouth 40, speak out of turn 42 and chuck head 44 in one, and electronic circuit component is installed on circuit substrate 32.Parts image unit 22 is owing to be located at X-axis slide block 60, thereby it is first with moving in X-direction and parts maintenance, even keeping by arbitrary parts under the situation of the installation of carrying out electronic circuit component, parts keep head after

assembly supply device

12 or 14 receives electronic circuit component, moving by Y direction mobile device 56 of moving to base plate keeping device 16 midway, when the direction to the composition with Y direction moves, on parts image unit 22, parts keep head can not stop, but with respect to parts image unit 22 all the time under the state that Y direction moves, take by 250 pairs of electronic circuit components of ccd video camera.

The shooting of electronic circuit component for example is to have or not the kind (according to the kind of type classification) of utilizing adsorption mouth 114,164 and chuck 210 to keep electronic circuit components, judging the electronic circuit component that is kept to correct errors and obtain the holding position error of electronic circuit component and carry out in order to detect.In the error of holding position, the site error that contains the direction that parallels with the moving direction of adsorption mouth 114,164 and chuck 210 is each site error of X-direction and Y direction and is the position of rotation error around the site error of the axis of electronic circuit component, by they are proofreaied and correct, electronic circuit component is being installed in the parts installation position that is set on the circuit substrate 32 accurately with the posture that does not have deviation on the circuit substrate 32.In addition, even parts keep head when not keeping electronic circuit component or keep also being the electronic circuit component of wrong kind, take out electronic circuit components etc. from

assembly supply device

12,14 again.

Like this, keeping electronic circuit component etc. in order to detect to have or not, is the edge and electronic circuit component is obtained the part of carrying out image processing respectively, the part of the position in the shooting face of decision calculating ccd video camera 250.QFP140 is lead-in wire 146, and nude film 142 is protuberance 154, and sheet component 190 is a terminal 194, and connector 230 is a main body 232, is respectively reference object portion and is image processing part.These reference object portions all are the parts of electronic circuit component, and the electronic circuit component integral body of utilizing 250 pairs of ccd video cameras to remain in component holder is taken and reference object portion is taken.

Because this shooting is carried out in the moving of electronic circuit component, thereby on the image of reference object portion, produce and blur.Fuzzy quantity is few more can carry out image processing more accurately, and still, but the image processing precision can be not high so yet, even fuzzy quantity more also has no relations sometimes.For example, under the situation of QFP140, because a plurality of lead-in wires 146 are consistently installed with the position of the pad of the parts installation position of being located at circuit substrate 32 respectively, thereby for obtaining the high holding position error of precision, need carry out image processing accurately, need reduce fuzzy quantity, but, pad is greatly and under the situation of the little electronic circuit component of the possibility that comes off from pad of offset mounting terminal even compare under the situation that terminal 194 is few as sheet component 190 and with terminal, because also can proofread and correct the holding position error so accurately, also can improve the image processing precision, thereby also can make fuzzy quantity big.

In addition, when shooting, by LED photoflash lamp 260 to the electronic circuit component irradiates light, electronic circuit component is thrown light on, but in order on the shooting face of ccd video camera 250, to form the distinct image of reference object portion, carry out image processing well, need make the picture formation light of ormal weight incide ccd video camera 250.Therefore, set the brightness specified part, this part is the part of electronic circuit component, and knack fixed flashing light time of origin is so that the brightness of this part becomes suitable brightness.Usually, under the high situation of the luminance factor other parts of reference object portion, reference object portion is defined as the brightness specified part, under the low situation of its periphery of luminance factor of reference object portion, periphery is defined as the brightness specified part.In any case, if the reflectivity of brightness specified part is low more, to prolong the flash of light time of origin of LED photoflash lamp more, the picture that then obtains requirement forms light, if but the translational speed of reference object portion is identical, and the fuzzy quantity of the long more image of time of origin that then glistens is big more.

Therefore, in this electronic-circuit-component mounting machine, every type electronic circuit component is set the fuzzy quantity that this reference object portion allows, the flash of light time of origin is set in reflectivity decision according to the brightness specified part, simultaneously, make LED photoflash lamp 260 produce flash of light and fuzzy quantity that translational speed during will taking electronic circuit component is set at reality is the speed that allows fuzzy quantity.Thus, can carry out image processing accurately, no matter the size of the reflectivity of reference object portion all obtains being fit to the bright image of image processing to the reference object portion of the electronic circuit component that need obtain the holding position error accurately.Parts image unit 22 is equipped on X-axis slide block 60, sets the parts of translational speed when being taken by 250 pairs of electronic circuit components of ccd video camera and keeps the translational speed of head in Y direction.

Figure 13 represents by one of the permission fuzzy quantity of the kind setting of reference object portion (also being the brightness specified part in the present embodiment) example.In Figure 13, the kind of reference object portion represents with the kind of the electronic circuit component with various reference object portion, and allows fuzzy quantity to set up corresponding and is stored in the permission fuzzy quantity memory of being located at RAM304.In this electronic-circuit-component mounting machine, allow fuzzy quantity to be set at polytype, for example be made as three types, as shown in figure 14, each of three types allows fuzzy quantity to set three kinds of combinations of setting the flash of light time of origin and setting translational speed respectively, and is stored in setting flash of light time of origin/setting translational speed decision data storage of being located at RAM304.

In addition, the kind that is shown in the reference object portion of Figure 13 can regard that also model etc. also can be set the kind of every kind of electronic circuit component according to finer classification and allow fuzzy quantity according to the kind of the electronic circuit component of roughly classification as.

In addition, the permission fuzzy quantity that is shown in Figure 14 is an illustration, also can be made as size in addition.

With the reflectivity of brightness specified part be divided into greatly, standard, little three phases, three types the setting flash of light time of time of origin for setting according to the reflectivity of each section, stipulate that the big side of reflectivity is than little weak point, factor diminishes, and obtains the picture formation light that image reaches the amount of the brightness that is fit to processing.In addition, the permission amount of movement of the reference object portion when allowing fuzzy quantity for shooting obtains with the product of setting the flash of light time of origin by setting translational speed, sets translational speed according to allowing fuzzy quantity and setting flash of light time of origin to calculate.Therefore, even set the long setting translational speed that also can slow down of flash of light time of origin, fuzzy quantity is suppressed to the permission fuzzy quantity.

In addition, also can replace above-mentioned big, standard, little this three phases, and reflectivity is divided into the more stage.Under this situation, both can be longer with the maximum duration and at least one side in the shortest time that set the flash of light time of origin than the example that is shown in Figure 14, perhaps also can be shorter than the example that is shown in Figure 14, also the setting in each stage flash of light time of origin can be made as and as shown in figure 14 routine different length, can be set at all lengths.

In addition, when setting the flash of light time of origin based on the reflectivity of brightness specified part, also can consider the camera gain of ccd video camera 250, in addition, under the situation that can change camera gain except that setting the flash of light time of origin and setting the translational speed, also can add Control Parameter to setting camera gain.

In this electronic-circuit-component mounting machine, before electronic circuit component was installed to circuit substrate 32, the kind of each electronic circuit component determined the setting flash of light time of origin of arbitrary combination and sets translational speed whether be fit to shooting to its brightness specified part.The kind of this electronic circuit component with setting as shown in figure 13 allow the kind of electronic circuit component of fuzzy quantity identical.Set the flash of light time of origin and set the definite of translational speed and electronic circuit component is remained in parts maintenance head by reality, move with the standard translational speed with respect to parts image unit 22, make LED photoflash lamp 260 carry out luminous simultaneously at the standard time of origin, and 250 pairs of electronic circuit components of ccd video camera are taken, and carried out based on this image pickup result.Standard flash of light time of origin and standard translational speed are the intermediate settings flash of light time of origin in three types each three types setting flash of light time of origin of permission fuzzy quantity and the combination of setting translational speed and set translational speed.With QFP140, nude film 142, sheet component 190 and connector 230 is example, and sets the flash of light time of origin and set determining of translational speed based on setting flash of light time of origin/setting translational speed determination procedure explanation as shown in figure 11.

At first, explanation is set the flash of light time of origin and is set determining of translational speed to QFP140.Under this situation, keep single mouth 40 by a holding device 46.And, execution in step 1 (below, note by abridging and be that S1, other step also are like this.), single mouth 40 is carrying out lifting by head moving device 48 when advanceable assembly supply device 12 moves, and one from a plurality of feed appliances 34 is taken out QFP140.After the taking-up, carry out S2, single mouth 40 moves by Y direction mobile device 56, in Y direction to base plate keeping device 16 side shiftings.And single mouth 40 passes through on

LED photoflash lamp

260, and 250 couples of QFP140 take by ccd video camera.

At this moment, single mouth 40 moves with the standard translational speed, and LED photoflash lamp 260 is luminous with standard flash of light time of origin, therebetween, takes while QFP140 is moved by ccd video camera.As shown in figure 13, because QFP140 will allow fuzzy quantity to be set at 25 μ m, thereby the standard translational speed is 0.625m/s, and the standard time of origin that glistens is 40 μ s.The shooting that the electronic circuit component that ccd video camera 250 carries out takes place and utilize for the flash of light of LED photoflash lamp 260 is controlled by installation and control computer 310, single mouth 40 is when the position of the whole central authorities that arrive the shooting face that is formed at ccd video camera 250 of QFP140, make LED photoflash lamp 260 begin to produce flash of light, simultaneously, make the electronic shutter work of ccd video camera 250, beginning electric charge accumulating to CCD, when setting the flash of light time of origin, the flash of light process finishing the flash of light generation from beginning to produce, simultaneously, finish accumulating and finishes and making a video recording of electric charge.Camera data is handled by pattern process computer 314, and it is sent to installation and control computer 310, by carrying out S3, shows the image of QFP140 integral body on the display 326 of display unit 328.

The operator is seeing the image that is shown in the QFP140 on the display 326 and is using input unit 318 to specify its brightness specified part.At S4, whether carried out the judgement of the appointment of brightness specified part, before the operator imports the appointment end, repeat the judgement of S4.When finishing to specify, the result of determination of S4 becomes YES (being) and carries out S5, calculates the brightness of appointed part.

And, carry out S6, by the operator carry out as the brightness B of the part of brightness specified part appointment whether than set point α greatly, whether little than set point β.Because the reflectivity of brightness specified part is big, reflection light quantity is promptly big more as forming the many more brightness of light quantity, thereby learn according to the size of brightness that the reflectivity of brightness specified part, set point α, β are set at respectively and can be categorized into size with corresponding big, the standard of above-mentioned three types setting flash of light time of origin, little this three phases based on the brightness that obtains by the shooting of the brightness specified part of standard flash of light time of origin and standard translational speed.

If specify lead-in wire 146 by the operator as the brightness specified part, then calculate its brightness B.Lead-in wire 146 is a plurality of, for example specifies one of them, calculates the brightness of a lead-in wire 146 of such appointment.Because the reflectivity of the lead-in wire 146 of QFP140 is the size of standard, thus brightness B big the result of determination of S6 becomes YES and carries out S7 and littler than set point β than set point α, will set glisten time of origin and setting translational speed and being defined as standard value respectively.About QFP140, allow fuzzy quantity to be set at 25 μ m, be in the combination of setting flash of light time of origin/settings translational speed of three types of 25 μ m to allow fuzzy quantity, the combination of standard is being made as setting flash of light time of origin and setting translational speed to the lead-in wire 146 of QFP140.

Then, carry out S8,, carry out the shooting of QFP140 once more according to setting flash of light time of origin that is determined and setting translational speed.If specify lead-in wire 146 as the brightness specified part, then be defined as standard value, thereby carry out identical shooting once more owing to setting the flash of light time of origin and setting translational speed by the operator.And camera data is handled by pattern process computer 314.At this, electronic circuit component is carried out and is installed on the same image processing of situation of circuit substrate 32, and be used to calculate the image processing of the holding position error of utilizing the electronic circuit component that adsorption mouth 114 carries out.Under the situation that is QFP140, a plurality of lead-in wires 146 are obtained the edge respectively, simultaneously obtain the position based on this edge, obtain the position of QFP140 based on each position of a plurality of lead-in wires 146, calculate the holding position error.Therefore, when carrying out image processing, calculating holding position error, the contrast relative with the image of the background of lead-in wire 146 image is abundant, at this, because it is black that the background of single mouth 40 forms face 120, thereby the brightness that needs of 146 the image processing of obtaining going between, obtain its edge, the setting flash of light time of origin that is determined and to set translational speed suitable.The result of image processing is to deliver to installation and control computer 310 with whether obtaining the holding position error from pattern process computer 314 at this, and carries out S9 based on this, carries out the image that obtained by shooting and whether be the judgement of suitable image.

For example, when seeing the image given luminance specified part of the QFP140 that is shown in display 326, the operator makes mistakes, when having specified when not being part as the lead-in wire 146 of brightness specified part, set the flash of light time of origin and set translational speed and be confirmed as wrong value, can not get 146 brightness that are fit to image processing that promptly go between of brightness specified part, thereby 146 the position that can not get going between, thereby can not calculate the holding position error, thereby will represent that the data of this meaning are sent to installation and control computer 310 from pattern process computer 314.Whether calculate the judgement of holding position error at S9, under situation about not calculating, image is not suitable for, the result of determination of S9 is become NO (denying) and carries out S14, by ringing of buzzer 322, it is bad that notification operator produces image, simultaneously, shows that on display 326 the generation image is bad.The operator infers the reason that image processing is bad, the countermeasure of determining of taking to reform and setting the flash of light time of origin and set translational speed.

146 image is bad and normally carry out image processing to obtain the holding position error if go between, then the data that are sent to installation and control computer 310 from pattern process computer 314 become the data that expression obtains the holding position error, the result of determination of S9 is become YES and carries out S10, discharge QFP140.In the parts of the head moving device 48 of base 30 keep the moving area of head, be provided with parts receptacle (not shown), single mouth 40 is moved to the parts receptacle, discharge QFP140, it is contained in the parts receptacle.In addition, with set the flash of light time of origin and set translational speed and electronic circuit component kind (according to the kind of the electronic circuit component of the same rough classification of kind of as shown in figure 13 electronic circuit component) set up the corresponding setting that is stored in the RAM304 that the is located at installation and control computer 310 time of origin/setting translational speed memory that glistens.Also can replace the parts receptacle to be provided with failure parts conveyer belt, mounting QFP140 on this conveyer belt are installed.

In addition, at the image processing program of pattern process computer when handling by the image of confirming the electronic circuit component that shooting obtains, be preferably following formation: on the basis of the calculating of holding position error, to the brightness specified part image of the lead-in wire of QFP for example, be the reliability relating value having pre-determined the relevant value of reliability that obtains with the edge, for example the brightness of the image of both sides of edges is poor, near the variable gradient of the brightness the edge, with calculate at least one of ratio of normally obtaining with the intersection point at edge etc. in the forward lookup line of the setting bar number of intersect edge.Under the situation of calculating the relevant value of the reliability that obtains with the edge, the value that calculates is sent to the installation and control computer, carry out the obtaining of fitness of the image that obtains by the affirmation image based on this.By value relevant with reliability and set point are compared the fitness that can obtain image, the installation and control computer possesses the reliability confirmation unit, whether carry out the value relevant with reliability is the judgement of setting more than the reliability relating value, set more than the reliability relating value if confirm as, then confirm as by confirming that the image that shooting obtains is suitable image.

Nude film 142 is also kept by single mouth 40, and is same with the situation of QFP140, with standard translational speed move on one side by LED photoflash lamp 260 and set glisten time of origin throw light on and utilize ccd video camera 250 take (S1, S2) on one side.Nude film 142 also is that the permission fuzzy quantity is 25 μ m, and moves with standard translational speed 0.625m/s, makes LED photoflash lamp 260 produce flash of light during standard flash of light time of origin 40 μ s.

If the operator is seeing the image given luminance specified part of the nude film 142 that is shown in display 326, then calculate its brightness B (S3～S5).The brightness specified part of nude film 142 is background for protuberance 154 with the main body 150 of being shone upon into black, and this brightness is as the brightness calculation relative with main body 150, but swells 154 surface one-tenth mirror-like, and the lead-in wire 146 of luminance factor QFP140 is big, and reflection light quantity is many.Therefore, specifying protuberance 154 during as the brightness specified part by the operator, its brightness B is more than the set point β, the result of determination of S6 becomes NO and carries out S11 whether carry out brightness B be the following judgement of set point α, this result of determination is also become NO carry out S12, be defined as the combination that big reflectivity is used setting the flash of light time of origin and setting translational speed.The permission fuzzy quantity that nude film 142 is set is 25 μ m, will set the flash of light time of origin and be defined as 20 μ s, will set translational speed and be defined as 1.25m/s.

And, carry out the following step of S8, single mouth 40 is moved with the setting translational speed of determining at S12, simultaneously, make LED photoflash lamp 260 carry out luminous at the setting flash of light time of origin of determining by S12, take by 250 pairs of nude films 142 of ccd video camera, carry out thus and the whether good corresponding processing of the image that obtains.

Explanation is to the setting flash of light time of origin of connector 230 and determining of translational speed.

Under this situation, a holding device 46 keeps chuck heads 44 and moves to pellet type assembly supply device 14, keeps connector 230 by making chuck 210 work, from pallet 36 with its taking-up (S1).The permission fuzzy quantity that connector 230 is set is 25 μ m, chuck head 44 moves with standard translational speed 0.625m/s, it is luminous that LED photoflash lamp 260 is carried out during standard flash of light time of origin 40 μ s, take by 250 pairs of connectors 250 of ccd video camera, this image is shown in (S2, S3) on the display 326.

If the operator specifies the brightness specified part of connector 230, then calculate this brightness, and compare with set point α, β (S4～S6).The brightness specified part of connector 230 is a main body 232, its color is a grey, because reflectivity is low, light quantity is few as forming, thereby brightness is below the set point α, the result of determination that the result of determination of S6 becomes NO, S11 becomes YES execution in step S13, sets the flash of light time of origin and set translational speed to be defined as the combination that little reflectivity is used.The permission fuzzy quantity of connector 230 is 25 μ m, three type the setting flash of light time of origin/setting translational speed decision data of use to allowing fuzzy quantity 25 μ m to set, decision is set the flash of light time of origin and is set translational speed, reaches 80 μ s and 0.3125m/s respectively.

And, carry out the following step of S8, chuck head is moved with the setting translational speed 0.3125m/s that determines at S13, simultaneously, make LED photoflash lamp 260 during the setting that is determined flash of light time of origin 80 μ s, carry out luminous and take, carry out and whether good corresponding processing of the image that obtains thus by 250 pairs of connectors 230 of ccd video camera.

In addition, because sheet component 190 42 is installed on circuit substrate 32 by speaking out of turn, thereby a maintenance in 42 a plurality of adsorption mouth 164 of being spoken out of turn, takes determining by ccd video camera 250 and to set the flash of light time of origin and to set translational speed.Speaking out of turn 42 can keep a plurality of electronic circuit components to transmit, and these electronic circuit component kinds are identical, even the kind difference allows fuzzy quantity also identical, the reflectivity of reference object portion also is categorized as same stages.42 keeping polytype electronic circuit components and together be sent under the situation that circuit substrate 32 installs by speaking out of turn, for example to one in these polytype electronic circuit components for example sheet component 190 determine to set the flash of light time of origins and set translational speeds, they are also determined to set the flash of light time of origin and set translational speed for the electronic circuit component of other kind, and set up corresponding with the kind of electronic circuit component and be stored in and set the time of origin/setting translational speed memory that glistens.

Speak out of turn and 42 move, make a lifting in a plurality of adsorption mouth 164 and take out sheet components 190 (S1) from feed appliance 34 to advanceable assembly supply device 12.Because the permission fuzzy quantity of sheet component 190 is 40 μ m, thereby move with standard translational speed 1m/s on 42 one side of speaking out of turn, it is luminous that LED photoflash lamp 260 is carried out during standard flash of light time of origin 40 μ s,, takes (S2) by 250 pairs of sheet components 190 of ccd video camera therebetween.

And the image of sheet component 190 is shown in display 326, if operator's given luminance specified part then calculates its brightness and compares (S3～S6) with set point α, β.Sheet component 190 is made as the brightness specified part with terminal 194, and the reflectivity of terminal 194 is standards.Therefore, if the operator specifies terminal 194 as the brightness specified part, then its brightness is normal size, promptly big little than set point β than set point α, setting flash of light time of origin/settings translational speed of using according to as shown in figure 14 permission fuzzy quantity 40 μ m determines to use data, determining to set the flash of light time of origin is 40 μ s, determines that setting translational speed is 1m/s (S7).

And making speaks out of turn 42 moves with the setting translational speed 1mms that is determined, and simultaneously, it is luminous that LED photoflash lamp 260 is carried out during the setting flash of light time of origin 40 μ s that are determined, and sheet component 190 is taken.Based on this shooting, terminal 194 is carried out whether can being fit to the judgement of image processing, and carry out and the corresponding processing of this result of determination (S8～S10, S14).

Electronic circuit component carries out according to as shown in figure 12 parts installation procedure to the installation of circuit substrate 32.Describe to the example that is installed as of circuit substrate 32 with QFP140.

At this moment, single mouth 40 is kept by a holding device 46, and, carry out S21, read data from installation procedure, and the kind that obtains the electronic circuit component that is mounted is QFP140 at this about the electronic circuit component that is installed on circuit substrate 32.Kind by the electronic circuit component that obtains reading of S21 is the model of electronic circuit component, obtains outward appearance, size of electronic circuit component etc. thus.In addition, model is represented to set the flash of light time of origin and is set the kind of the electronic circuit component of translational speed correspondence (according to than the model kind of broad classification more), as long as go out arbitrary setting flash of light time of origin and setting translational speed from setting flash of light time of origin/settings translational speed memory read.Then, carry out S22, read setting flash of light time of origin and the setting translational speed that the kind to electronic circuit component that obtains at S21 is set from setting flash of light time of origin/settings translational speed memory.About QFP140, setting the flash of light time of origin is 40 μ m, and the setting translational speed is 0.625m/s.

And, carry out S23, single mouth 40 is moved to advanceable assembly supply device 12, take out QFP140 from feed appliance 34.After the taking-up, single mouth 40 is moved to base plate keeping device 16, in this way, carry out S24, take by 250 couples of QFP140 of ccd video camera with the state that moves like this.At this moment, make 260 in LED photoflash lamp be used in the setting flash of light time of origin generation flash of light that S22 reads, therebetween, 250 couples of QFP140 take by ccd video camera.In addition, can preestablish and make single mouth 40 translational speed when mobile between

assembly supply device

12,14 and base plate keeping device 16, and only when shooting, make LED photoflash lamp 260 carry out luminous in Y direction with the setting flash of light time of origin of reading at S22, therebetween, set translational speed becomes the translational speed of the reference object portion setting of electronic circuit component, the setting translational speed of promptly reading at S22.Thus, to throw light on, to make a video recording, simultaneously, fuzzy quantity can be suppressed at the permission fuzzy quantity to the lead-in wire 146 of QFP140 with the corresponding time of its reflectivity.

The camera data of the QFP140 that obtains by shooting is handled by pattern process computer 314, and calculates the holding position error of utilizing adsorption mouth 114 to keep QFP140, supplies to installation and control computer 310.QFP140 obtains the image about the brightness of the 146 suitable image processing that go between by moving of carrying out according to the illumination of setting the flash of light time of origin, shooting and setting translational speed, calculates the holding position error accurately.

And, carry out S25, QFP140 is installed on circuit substrate 32.After the shooting, make single mouth 40 turn back to set value, make QFP140 move and it is installed on circuit substrate 32 to base plate keeping device 16 in the translational speed of Y direction.At this moment, the parts maintaining part bit position error of utilizing the holding position error of the QFP140 that adsorption mouth 114 keeps to obtain with the shooting of the reference mark 244 of carrying out based on the ccd video camera 240 that utilizes reference mark image unit 20 is together proofreaied and correct.Holding position error with electronic circuit component in the site error of parts installation position is the same, contains each site error and the position of rotation error of X-axis, Y direction.The site error of X-axis, Y direction is proofreaied and correct by the correction of the shift position of single mouth 40 of utilizing head moving device 48 and carrying out, the position of rotation error proofreaies and correct single mouth 40 rotations by utilizing whirligig 52, thereby QFP140 is installed on the parts installation position accurately with correct posture.

42 electronic circuit component is being installed under the situation of circuit substrate 32 by speaking out of turn, a plurality of adsorption mouth 164 keep electronic circuit components.Therefore,, read a plurality of electronic circuit components, obtain the kind of the electronic circuit component of being installed at S21.When the kind of electronic circuit component has when a plurality of, at S22 polytype electronic circuit component is read and set the flash of light time of origin and set translational speed, but these are identical.

Making speaks out of turn 42 moves to advanceable assembly supply device 12, take out for example sheet component 190 (S23) of electronic circuit component from feed appliance 34, in the moving process of base plate keeping device 16, by ccd video camera to taking (S24) together simultaneously by the 42 whole electronic circuit components that keep of speaking out of turn.Speaking out of turn 42, that LED photoflash lamp 260 is carried out with the setting flash of light time of origin of reading at S22 (40 μ s) is luminous, during sheet component 190 is taken, moves with the setting translational speed (1m/s) of reading at S22 in Y direction.Setting the flash of light time of origin and setting translational speed all is common to becoming an a plurality of electronic circuit component of 42 states that keep simultaneously of being spoken out of turn, carry out once shooting, a plurality of electronic circuit components are calculated the holding position error respectively, together proofread and correct with the site error of parts installation position and electronic circuit component is installed on circuit substrate 32 (S25).

Electronic circuit component is being installed under the situation of circuit substrate 31 by chuck head 44, for example when connector 230 is installed on electronic circuit component, is keeping chuck head 44, connector 230 is being taken out from pallet 36 by a holding device 46.And, in the process that moves to base plate keeping device 16, connector 230 is moved according to the setting flash of light time of origin (80 μ s) and the setting translational speed (0.3125m/s) of reading at S22, it is luminous LED photoflash lamp 260 to be carried out on one side, and takes (S24) by 250 pairs of connectors 230 of ccd video camera.The reference object portion of connector 230 is that main body 232 is grey, reflectivity is little, but set the flash of light time of origin and make the setting translational speed slack-off owing to prolong, thereby the image that can obtain q.s forms light, brightness with suitable image processing, can obtain simultaneously fuzzy quantity is suppressed at the image that allows fuzzy quantity, obtain the holding position error accurately.After the shooting, carry out S25, connector 230 is moved to base plate keeping device 16 with set speed, proofread and correct the holding position error and be installed on circuit substrate 32.

As showing according to above explanation, in this electronic-circuit-component mounting machine, input unit 318 constitutes specifies input part, and display unit 328 constitutes (5) display part of being put down in writing of summary of the invention, and buzzer 322 constitutes the sound notification devices.In addition, the setting flash of light time of origin/setting translational speed memory of installation and control computer 310 constitutes sets the flash of light time of origin/setting translational speed storage part or first storage part, allow fuzzy quantity to constitute and set the amount of movement storage part or second storage part, carry out S21 ^-Part constitute reference object portion obtaining section that (2) item of summary of the invention is put down in writing, the part of carrying out S22 constitutes to be set flash of light time of origin/translational speed and reads portion.In addition, the part of carrying out the S2 of installation and control computer 310 constitutes (5) tentative image pickup part of being put down in writing of summary of the invention, the part of carrying out S5～S7 and S11～S13 constitutes setting flash of light time of origin determination section, sets the translational speed determination section, sets flash of light time of origin/setting translational speed determination section, the part of carrying out S8 constitutes confirms image pickup part, the part of carrying out S9 constitutes the edge and obtains confirmation unit, and the part of carrying out S14 together constitutes notice portion with display unit 328 and buzzer 322.Can think that also the part formation setting flash of light time of origin/setting translational speed storage part data creating portion or the first storage part data creating portion that carry out the S1～S13 of installation and control computer 310 promptly set flash of light time of origin/setting translational speed data creating portion.In the present embodiment, the part of carrying out the S24 of installation and control computer 310 constitutes control device, in the moving of the reference object portion that utilizes object portion mobile device to carry out, make lighting device only set the generation flash of light of flash of light time of origin and make camera head carry out the shooting of reference object portion, and the translational speed of controlling object portion mobile device, make the amount of movement of setting the reference object portion in the flash of light time of origin for setting amount of movement or this below setting amount of movement, the formation of parts camera system comprises: this control device, two parts image units 22 and Y direction mobile device 56.In the present embodiment, the formation of control device also comprises: but above-mentioned setting flash of light time of origin/settings translational speed storage part, reference object portion obtaining section, set that flash of light time of origin/translational speed is read portion, tentative image pickup part, sets flash of light time of origin determination section, sets the translational speed determination section, set flash of light time of origin/setting translational speed determination section, affirmation image pickup part, edge obtain confirmation unit and notice portion.

In addition, pattern process computer 314 composing images processing unit, the part of carrying out the S25 of installation and control computer 310 constitutes the erecting device control part.

Setting the flash of light time of origin also can be determined by the operator.Based on as shown in figure 15 setting flash of light time of origin/setting translational speed determination procedure its execution mode is described.In addition, set determining owing to all be to carry out equally of flash of light time of origin, thereby be that example describes with QFP140 to all electronic circuit components.In addition, except that setting the flash of light time of origin and setting the determining of translational speed, other is all identical with above-mentioned execution mode, showing corresponding relation, and omits explanation for the identical symbol of the inscape mark that constitutes same effect.

S1, the S2 of the S31 of this program, the execution of S32 and above-mentioned setting flash of light time of origin/setting translational speed determination procedure are same, make on one side and keep the QFP140 of single mouth 40 to move with the standard translational speed, throw light at standard flash of light time of origin by LED photoflash lamp 260 on one side, therebetween, take by ccd video camera.The view data of the QFP140 that will obtain by this shooting is sent to installation and control computer 310, by carrying out S33, with the image of QFP140 and set flash of light time of origin/settings translational speed and determine to be shown in display 326 with data.The permission fuzzy quantity of QFP140 is set at 25 μ m, and showing on display 326 and allowing fuzzy quantity is three types the setting flash of light time of origin of 25 μ m and the combination of setting translational speed.The operator seeing QFP140 lead-in wire 146 image and according to its brightness, use input unit 318 to select to consider setting flash of light time of origin that is fit to shooting and the combination of setting translational speed.Before input is selected to finish, repeat S34.If input is selected to finish, then the result of determination of S34 becomes YES and carries out S35, on one side single mouth 40 is moved according to selected setting translational speed, on one side at selected setting flash of light time of origin LED photoflash lamp 260 to be carried out luminous, QFP140 is taken.

And, the execution of S36 is the same with above-mentioned S9, if to the QFP140 that has carried out shooting obtain the holding position error, to 146 images that obtain being fit to the brightness of image processing that go between, then the result of determination of S36 becomes YES and carries out S37, discharge QFP140, simultaneously, the setting flash of light time of origin that will select by the operator and set translational speed and set up corresponding with the kind of electronic circuit component and be stored in the setting time of origin/setting translational speed memory that glistens.Relative with it, if 146 the image of going between is not good and can not obtain the holding position error, then the result of determination of S36 becomes NO and carries out S38, makes buzzer 322 notification operator of ringing produce bad.

Then, carry out S39, the generation that display image is bad, simultaneously the same with S33 image and the setting flash of light time of origin/setting translational speed decision with QFP140 is shown in display 326 with data.At this moment, shown is by carrying out the image that S32 took and be shown at S33 display 326.Even this image is still kept after the operator selects to set the flash of light time of origin and sets translational speed.And, carry out S34, wait for the selection of operator to setting flash of light time of origin and setting translational speed, if select, then carry out the following step of S35, the definite setting glistened time of origin and set translational speed.

In this electronic-circuit-component mounting machine, the part of carrying out the S32 of control device computer 310 constitutes (6) tentative image pickup part of being put down in writing of summary of the invention, display unit 328 constitutes (6) display part of being put down in writing of summary of the invention, input unit 318 constitutes sets flash of light time of origin input part, the part of carrying out the S35 of installation and control computer 310 constitutes confirms image pickup part, but the part of carrying out S36 constitutes the edge obtains confirmation unit, and the part of carrying out S38, S39 together constitutes notice portion with display unit 328 and buzzer 322.In this electronic-circuit-component mounting machine, owing to together also select to set translational speed with setting the flash of light time of origin, therefore, input unit 318 also is to set flash of light time of origin/setting translational speed input part also for setting the translational speed input part.In addition, the part of carrying out the S31～S37 of installation and control computer 310 can regard that also formation is set flash of light time of origin/setting translational speed storage part data creating portion or the first storage part data creating portion promptly sets flash of light time of origin/setting translational speed data creating portion as.

In the present embodiment, the same with above-mentioned execution mode, the part of carrying out the S24 of installation and control computer 310 becomes control device, in the moving of the reference object portion that utilizes object portion mobile device to carry out, make lighting device only produce flash of light and make camera head carry out the shooting of reference object portion to set the flash of light time of origin, and, the translational speed of controlling object portion mobile device is so that the amount of movement of the reference object portion in the setting flash of light time of origin is the setting amount of movement or is somebody's turn to do below the setting amount of movement that the formation of parts camera system comprises: this control device, two parts image units 22 and Y direction mobile device 56.In the present embodiment, the formation of control device is the same with above-mentioned execution mode, also comprise: set flash of light time of origin/setting translational speed storage part, reference object portion obtaining section and setting flash of light time of origin/translational speed and read portion, simultaneously, but also comprise above-mentioned tentative image pickup part, confirm image pickup part, the edge obtains confirmation unit and notice portion.

Set the flash of light time of origin and set translational speed and also can be continuous value.Be example with QFP140 and its execution mode be described based on as shown in figure 16 setting flash of light time of origin determination procedure and parts installation procedure as shown in figure 17.In addition, for then marking identical symbol and be used for explanation with the inscape of the same effect of inscape of the electronic-circuit-component mounting machine that is illustrated based on Fig. 1～Figure 14.

The execution of the S51～S55 of this setting flash of light time of origin determination procedure is the same with the S1～S5 of above-mentioned setting flash of light time of origin/setting translational speed determination procedure.If the operator is seeing the image of the QFP140 that is shown in display 326 and is using input unit 318 given luminance specified part, then the result of determination of S54 becomes YES and carries out S55, calculate after the brightness B at appointed position, carry out S56, use brightness B and predefined formula (obtaining under the situation of brightness B with standard flash of light time of origin) to calculate and set the flash of light time of origin for obtaining the formula of the suitable calculating flash of light time of origin of accurate brightness.Then, carry out S57, calculate translational speed based on the setting flash of light time of origin of obtaining at S56 and to the permission fuzzy quantity that QFP140 sets.The setting flash of light time of origin of obtaining by computing is a successive value, and translational speed also is a successive value.

Then, carry out S58, use the setting flash of light time of origin and the translational speed that calculate to carry out the shooting of QFP140, afterwards, similarly carry out S59, the brightness whether image at the position of operator's appointment obtains being fit to handle is judged with above-mentioned S9.When the operator specifies lead-in wire 146 and obtains its brightness, set the size that flash of light time of origin and translational speed are calculated to be and 146 the reflectivity of going between adapts, utilizing these to set the make a video recording image of the lead-in wire 146 that obtains of flash of light time of origins and translational speed becomes and is fit to the brightness handled, obtains the holding position error of the QFP140 that kept by adsorption mouth 114.Therefore, the result of determination of S59 becomes YES and carries out S60, sets up the setting flash of light time of origin and the kind of electronic circuit component that calculate corresponding and setting that the be stored in RAM304 time of origin memory that glistens.Relative with it, if the reference object portion of operator's appointment as on can not obtain the brightness of be fit to handling and can not obtain the holding position error, then the result of determination of S59 becomes NO, similarly carries out S61 with above-mentioned S14.

When electronic circuit component is installed, carry out parts installation procedure as shown in figure 17, at S71, at first read the kind of the electronic circuit component that is installed on circuit substrate 32 from installation procedure, afterwards, carry out S72, read setting flash of light time of origin from setting flash of light time of origin memory based on the kind of the electronic circuit component of reading.For example, if the electronic circuit component of installing is QFP140, then QFP140 is read setting flash of light time of origin from setting flash of light time of origin memory.And, carry out S73, read the electronic circuit component read at S71 in this permission fuzzy quantity from allowing the fuzzy quantity memory for the QFP140 setting.Then, carry out S74, calculate the setting translational speed based on setting flash of light time of origin of reading and permission fuzzy quantity.

After, the execution of S75～S77 and above-mentioned S23～S25 are same, after feed appliance 34 takes out QFP140, single mouth 40 is moved on one side with the setting translational speed that calculates, make on one side the LED photoflash lamp carry out luminous and take by 250 couples of QFP140 of ccd video camera at the setting flash of light time of origin of reading, calculate the holding position error and proofread and correct, it is installed on circuit substrate 32.

In this electronic-circuit-component mounting machine, the setting flash of light time of origin memory of the RAM304 of installation and control computer 310 constitutes sets the flash of light time of origin storage part or first storage part, allow the fuzzy quantity memory to constitute and set the amount of movement storage part or second storage part, the part of the S71 of execution installation and control computer 310 constitutes (4) item of summary of the invention and reference object portion obtaining section that (11) item is put down in writing respectively, the part of carrying out S72 constitutes setting flash of light time of origin and reads portion, the part of carrying out S73 constitutes the setting amount of movement and reads portion, the part of carrying out S74 constitutes the translational speed calculating part that the translational speed configuration part is set in the conduct that is equivalent to the translational speed configuration part, above-mentioned setting flash of light time of origin storage part, reference object portion obtaining section that above-mentioned (4) item is put down in writing and the setting flash of light time of origin portion of reading constitute flash of light time of origin configuration part.In addition, the part of the execution S52 of installation and control computer 310 constitutes tentative image pickup part, the part of carrying out S56 constitutes the setting flash of light time of origin calculating part that is equivalent to set flash of light time of origin determination section, the part of carrying out S58 constitutes confirms image pickup part, but the part of carrying out S59 constitutes the edge obtains confirmation unit, and the part of carrying out S61 together constitutes notice portion with display unit 328 and buzzer 322.The part of the execution S51～S60 of installation and control computer 310 can be regarded formation as and make the data creating portion that the data of setting the flash of light time of origin storage part or first storage part are promptly set flash of light time of origin data that is stored in.

In the present embodiment, the part of the execution S76 of installation and control computer 310 constitutes control device, in the moving of the reference object portion that utilizes object portion mobile device to carry out, make lighting device only produce flash of light and make camera head carry out the shooting of reference object portion to set the flash of light time of origin, and the translational speed of controlling object portion mobile device is so that the amount of movement of the reference object portion in the setting flash of light time of origin is the setting amount of movement or is somebody's turn to do below the setting amount of movement that the formation of parts camera system comprises: this control device, two parts image units 22 and Y direction mobile device 56.In the present embodiment, the formation of control device also comprises: above-mentioned setting amount of movement storage part, above-mentioned (11) but reference object portion obtaining section that item is put down in writing, set amount of movement and read portion, translational speed calculating part, flash of light time of origin configuration part, tentative image pickup part, set flash of light time of origin calculating part, confirm that image pickup part, edge obtain confirmation unit and notice portion.

Also can make camera head and lighting device and reference object partly open special-purpose mobile device moves.With reference to Figure 18 its execution mode is described.

The parts image unit 350 of the electronic-circuit-component mounting machine of present embodiment moves by the parts image unit mobile device 352 of special use, in addition, other formation is all the same with above-mentioned electronic-circuit-component mounting machine, showing corresponding relation, and explanation is omitted for the identical symbol of the inscape mark that constitutes same effect.

These parts image unit 350 and the special-purpose member image unit mobile device 352 that parts image unit 350 is moved are located at the base plate keeping device 16 of base 30 and the part between the

assembly supply device

12,14 respectively.These two groups of parts image unit mobile devices 352 comprise respectively: the slide block 360 that is equivalent to movable member; Making slide block 360 is in the horizontal plane remaining in the direction that parallels with parts installed surface circuit substrate 32 base plate keeping device 16, with direction slide block mobile device 362 for moving in this electronic-circuit-component mounting machine of the direction quadrature of

arrangement part feedway

12,14 and base plate keeping device 16 in the direction that parallels with X-direction.

Each slide block mobile device 362 possesses: the parts image unit that is equivalent to drive source moves with motor 364; Feed screw 368, be included in the part of ball-screw 66 of the X-direction mobile device 54 that is provided with erecting device 18 of base 30 and

assembly supply device

12,14 separately between part, can around the axis rotation parallel and the ball-screw 366 that can not be provided with movably at direction of principal axis with X-direction and be fixed at slide block 360 and with the nut (not shown) of ball-screw 366 engagements.The parts image unit moves with motor 364 and for example is made of servomotor, is rotated by making ball-screw 366 utilize the parts image unit to move with motor 364, and slide block 350 is moved to any direction in X-direction.Parts image unit 350 is located on the slide block 360.Parts image unit 350 has the formation the same with above-mentioned parts image unit 22, and it comprises: contain the camera head of ccd video camera and guiding device and the lighting device that is made of the LED photoflash lamp.

Parts image unit 350 and parts image unit mobile device 352 are subjected to the control of installation and control computer (not shown).Parts keep head after the either party from assembly supply device 12,14 receives electronic circuit component and when base plate keeping device 16 moves, and the way is passed through from the top of the mobile route of the parts image unit 350 parallel with X-direction therein.Parts keep the mobile route of head owing to supply with the parts installation position difference of position and circuit substrate 32 because of the parts of assembly supply device 12,14, thereby therewith correspondingly, obtain the position of the X-direction that mobile route that parts when seeing keep the mobile route of head and parts image unit 350 intersects on plane graph, parts image unit 350 moves to this crossover location in advance, stop to be in standby, parts keep head from above by the time, electronic circuit component is taken.Shooting is the same with above-mentioned parts image unit 22, make parts keep head to move with the speed that the reference object portion to electronic circuit component sets, make the LED photoflash lamp only setting flash of light time of origin generation flash of light, therebetween, electronic circuit component is taken by ccd video camera.In this electronic-circuit-component mounting machine, head moving device 48 constitutes object portion mobile device.Set the flash of light time of origin and set translational speed for example with three execution modes of above-mentioned Fig. 1～shown in Figure 17 in any set the samely.The direction vertical with reference object portion mutually opposed direction with the camera head of parts image unit 350 is at least one side of X-direction and Y direction, when shooting, though reference object portion with respect to camera head to which side to moving, all be to move to set translational speed.In the present embodiment, the formation of parts camera system comprise with above-mentioned three execution modes in the control device that similarly constitutes of any control device, two parts image units 350 and head moving device 48.

Image unit also can the fixed position and is provided with.For example, in electronic-circuit-component mounting machine, parts image unit fixed position is arranged on base plate keeping device and the part between the assembly supply device and the part corresponding on the substrate throughput direction of assembly supply device of base with mid portion.Parts keep head after assembly supply device receives electronic circuit component, moving to the parts image unit of moving to base plate keeping device midway, electronic circuit component are taken.

In addition, set under the situation of translational speed during at decision setting flash of light time of origin before the installing component and at installing component, no matter being based on the brightness of brightness specified part determines automatically, still the operator determines input, can be made as discontinuous (interim) value with setting the flash of light time of origin and setting translational speed, also the either party can be made as discontinuous value and the opposing party is made as continuous value.

In addition, set the flash of light time of origin and set under the situation that translational speed all was predetermined before parts are installed, both they all can be made as continuous value, also the either party can be made as the value of discontinuous (stage) and the opposing party is made as continuous value.Under the situation that all is made as successive value, for example above-mentioned, as long as based on the brightness of reference object portion, will together to set up the corresponding storage part that is stored in the setting translational speed that calculates in order confirming to make a video recording by the setting flash of light time of origin that computing is obtained and to get final product with the kind of reference object portion.Promptly setting translational speed at successive value obtains by computing, and together be stored under the situation of storage part in advance with setting flash of light time of origin, the flash of light time of origin determination section that the part of the setting of calculation control device flash of light time of origin constitutes the time of origin configuration part that is equivalent to glisten calculates the part of setting translational speed and constitutes the translational speed determination section that is equivalent to the translational speed configuration part.

In addition, be made as constant (one type) no matter set the kind that amount of movement also can reference object portion.Under this situation, in the polytype reference object portion, the fuzzy quantity that to allow for the big or small maximum reference object portion of the precision prescribed in the image processing and the shortest fuzzy quantity are made as the setting amount of movement as the common permission fuzzy quantity of polytype reference object portion.

In addition, determine to set under the situation of flash of light time of origin, also can be made as successive value setting the flash of light time of origin the operator.For example, the operator is seeing that the image of the brightness specified part that is shown in display infers its reflectivity, and decision and input think to be carried out well the setting flash of light time of origin of the image of image processing.For example, in reference object portion is the brightness specified part, its background is not under the situation of black but grey, other color, need obtain to carry out well the contrast that the picture of reference object portion is handled to reference object portion and parts, therefore, determine to set the flash of light time of origin for the image that obtains having brightness by the operator and with its input.Determining of such setting flash of light time of origin also can be by computer automatic execution.

In addition, have under the situation of setting the flash of light time of origin in storage portion stores before the installing component, setting the flash of light time of origin is not to obtain by execution, yet can not set the flash of light time of origin and store by tentative obtaining.For example, the operator is based on definite setting flash of light such as the formation of reference object portion such as electronic circuit component, purposes, color time of origin, and its kind foundation with electronic circuit component is corresponding and be stored in storage part.This obtaining also of time of origin of setting flash of light can automatically perform well by computing.

In addition, translational speed when reference object portion makes a video recording is set translational speed than under the slow situation of translational speed when mobile of not making a video recording, also can after shooting, make the translational speed of reference object portion faster, to suppress increase from the mobile starting point of reference object portion to the mobile required time of mobile end point than set speed.

In addition, under the situation of confirming to make a video recording after the tentative shooting, also the picture that contains reference object portion that obtains by the affirmation shooting can be shown in display part, the operator is seeing whether this image judgement can obtain being fit to the brightness of image processing in the predefined part of image.

That in addition, sets the flash of light time of origin determines it also can is not to carry out the appointment of a part of image by the operator but carry out automatically.When at least a portion with electronic circuit component is that the situation of reference object portion is when being example, electronic circuit component is kept by component holder, by lighting device according to allow the predefined time of fuzzy quantity for example standard flash of light time of origin throw light on, simultaneously, move with the standard translational speed, therebetween, take, image that obtains thus and the situation that obtains the holding position error are similarly handled by camera head.Under this situation, image processing program is a program as described below: even flash of light time of origin and translational speed are not suitable for, the excessive image of the brightness of brightness specified part is too bright, or the too small image of brightness is too dim, all can see the brightness specified part and can see reference object portion.Therefore, self-evident under standard flash of light time of origin and standard translational speed the situation for the size of the brightness that can obtain in the brightness specified part being fit to handling, even under the situation of the brightness size that only can obtain being not suitable for image processing, also can see the point in the brightness specified part.And, whether the brightness of carrying out the brightness specified part is in the interior judgement of setting range, if brightness is in the setting meeting on a large scale, the time of origin that then standard glistened is made as the flash of light time of origin about this electronic circuit component, if surpassing, brightness sets brightness range, the time of origin that then will glisten is made as the time than the little weak point of standard, if brightness less than setting brightness range, the time of origin that then will glisten is made as the time of growing than standard.The flash of light time of origin is according to from the setting brightness range disengaging amount of brightness and elongated or shorten.After having determined the flash of light time of origin, utilize this flash of light time of origin to reach the translational speed that obtains thus and carry out the shooting of electronic circuit component, confirm whether the value that is determined is suitable.Whether this affirmation for example is in the setting range by the brightness of judging the brightness specified part is carried out, and in the time of in being in setting range, confirms to have obtained being fit to obtain the image of holding position error, determines to set the flash of light time of origin and sets translational speed.Relative with it, if the brightness of brightness specified part breaks away from setting range, the image that then obtains is improper, has taken place unusually by notice portion notification operator.In the present embodiment, camera system has as the brightness confirmation unit of image confirmation unit and the automatic determination section of flash of light time of origin of conduct flash of light time of origin configuration part.

Label declaration

12: feeding formula assembly supply device 14: pellet type assembly supply device 16: base plate keeping device 18: erecting device 22: parts shootings unit 26: control device 32: circuit substrate 40: single mouth 42: speak out of turn 44: chuck head 48: head moving device 114: adsorption mouth 140:QFP 142: nude film 146: lead-in wire 154: protuberance 164: adsorption mouth 190: sheet component 194: terminal 230: connector 232: main body 250:CCD video camera 254: illumination device 260:LED flash lamp 310: control computer 314 is installed: pattern process computer 318: input unit 322: buzzer 328: display unit 350: parts shooting unit 352: parts shooting cell moving device

Claims

1. a camera system is characterized in that, comprises:

2. camera system as claimed in claim 1, wherein, described control device comprises:

Set flash of light time of origin/settings translational speed storage part, set up corresponding with the kind of reference object portion the setting translational speed of the setting flash light emission time of origin of described lighting device and described object portion mobile device and store and organize more;

3. camera system as claimed in claim 1, wherein, described control device comprises:

4. camera system as claimed in claim 3, wherein, described flash of light time of origin configuration part comprises:

Set flash of light time of origin storage part, with the kind of reference object portion with set the flash of light time of origin and set up corresponding and the many groups of storage;

5. as each described camera system in the claim 1～4, wherein also comprise:

6. as each described camera system in the claim 1～4, wherein comprise:

7. camera system as claimed in claim 5 wherein also comprises:

8. camera system as claimed in claim 6 wherein also comprises:

9. camera system as claimed in claim 7, wherein,

Described image confirmation unit also comprises can obtain the edge confirmation unit, and by the image processing of the image obtained by described affirmation image pickup part, affirmation can normally obtain the edge of reference object portion.

10. camera system as claimed in claim 7, wherein,

11. camera system as claimed in claim 7, wherein,

12., wherein also comprise as each described camera system in the claim 1～4:

Set the amount of movement storage part, set up the described setting amount of movement of the kind of reference object portion and various types of reference object portion corresponding and store;

13. as each described camera system in the claim 1～4, wherein,

Described lighting device is made of the LED photoflash lamp.

14. an electronic-circuit-component mounting machine is characterized in that, comprises:

Base plate keeping device, the holding circuit substrate;

Assembly supply device is supplied with electronic circuit component;

And described parts camera system is made of each described camera system in the claim 1～4.